本文整理汇总了Python中control_msgs.msg.FollowJointTrajectoryGoal.goal_time_tolerance方法的典型用法代码示例。如果您正苦于以下问题：Python FollowJointTrajectoryGoal.goal_time_tolerance方法的具体用法？Python FollowJointTrajectoryGoal.goal_time_tolerance怎么用？Python FollowJointTrajectoryGoal.goal_time_tolerance使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类control_msgs.msg.FollowJointTrajectoryGoal的用法示例。
在下文中一共展示了FollowJointTrajectoryGoal.goal_time_tolerance方法的2个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: createHandGoal
# 需要导入模块: from control_msgs.msg import FollowJointTrajectoryGoal [as 别名]
# 或者: from control_msgs.msg.FollowJointTrajectoryGoal import goal_time_tolerance [as 别名]
def createHandGoal(side, j1, j2, j3):
"""Creates a FollowJointTrajectoryGoal with the values specified in j1, j2 and j3 for the joint positions
with the hand specified in side
@arg side string 'right' or 'left'
@arg j1 float value for joint 'hand_'+side+'_thumb_joint'
@arg j2 float value for joint 'hand_'+side+'_middle_joint'
@arg j3 float value for joint 'hand_'+side+'_index_joint'
@return FollowJointTrajectoryGoal with the specified goal"""
fjtg = FollowJointTrajectoryGoal()
fjtg.trajectory.joint_names.append('hand_'+side+'_thumb_joint')
fjtg.trajectory.joint_names.append('hand_'+side+'_middle_joint')
fjtg.trajectory.joint_names.append('hand_'+side+'_index_joint')
point = JointTrajectoryPoint()
point.positions.append(j1)
point.positions.append(j2)
point.positions.append(j3)
point.velocities.append(0.0)
point.velocities.append(0.0)
point.velocities.append(0.0)
point.time_from_start = rospy.Duration(4.0)
fjtg.trajectory.points.append(point)
for joint in fjtg.trajectory.joint_names: # Specifying high tolerances for the hand as they are slow compared to other hardware
goal_tol = JointTolerance()
goal_tol.name = joint
goal_tol.position = 5.0
goal_tol.velocity = 5.0
goal_tol.acceleration = 5.0
fjtg.goal_tolerance.append(goal_tol)
fjtg.goal_time_tolerance = rospy.Duration(3)
fjtg.trajectory.header.stamp = rospy.Time.now()
return fjtg示例2: __init__
# 需要导入模块: from control_msgs.msg import FollowJointTrajectoryGoal [as 别名]
# 或者: from control_msgs.msg.FollowJointTrajectoryGoal import goal_time_tolerance [as 别名]
def __init__(self):
rospy.init_node('arm_simple_trajectory')
# Set to True to move back to the starting configurations
reset = rospy.get_param('~reset', False)
# Which joints define the arm?
arm_joints = ['joint_lift',
'joint_waist',
'joint_big_arm',
'joint_forearm',
'joint_wrist_pitching',
'joint_wrist_rotation']
if reset:
# Set the arm back to the resting position
arm_goal = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
else:
# Set a goal configuration for the arm
arm_goal = [1.0, 1.0, 1.0, 1.0, 0.0, 0.0]
# Connect to the right arm trajectory action server
rospy.loginfo('Waiting for xm arm trajectory controller...')
arm_client = actionlib.SimpleActionClient('xm_arm_controller/follow_joint_trajectory',
FollowJointTrajectoryAction)
arm_client.wait_for_server()
rospy.loginfo('...connected.')
rospy.sleep(1)
# Create a single-point arm trajectory with the arm_goal as the end-point
arm_trajectory = JointTrajectory()
arm_trajectory.joint_names = arm_joints
arm_trajectory.points.append(JointTrajectoryPoint())
arm_trajectory.points[0].positions = arm_goal
arm_trajectory.points[0].velocities = [0.0 for i in arm_joints]
arm_trajectory.points[0].accelerations = [0.0 for i in arm_joints]
arm_trajectory.points[0].time_from_start = rospy.Duration(3)
# Send the trajectory to the arm action server
rospy.loginfo('Moving the arm to goal position...')
rospy.sleep(1)
# Create an empty trajectory goal
arm_goal = FollowJointTrajectoryGoal()
# Set the trajectory component to the goal trajectory created above
arm_goal.trajectory = arm_trajectory
# Specify zero tolerance for the execution time
arm_goal.goal_time_tolerance = rospy.Duration(0)
# Send the goal to the action server
arm_client.send_goal(arm_goal)
rospy.loginfo('...done')
rospy.sleep(1)